本文關(guān)鍵詞： 永磁同步電機 矢量控制 反步自適應(yīng)控制 齒隙補償　出處：《南京理工大學(xué)》2017年碩士論文　論文類型：學(xué)位論文

【摘要】：為了克服齒隙對機電系統(tǒng)傳動性能的影響,本文以三相交流永磁同步電機(PMSM)為控制對象,分析了永磁同步電機的結(jié)構(gòu)并建立數(shù)學(xué)模型,選取死區(qū)模型來表現(xiàn)齒隙的傳動作用,運用Matlab/Simulink軟件來驗證所提出的基于齒隙補償?shù)姆床阶赃m應(yīng)控制器補償齒隙的有效性,通過永磁同步電機交流伺服系統(tǒng)實驗平臺,對基于齒隙補償?shù)姆床阶赃m應(yīng)控制和PID控制兩種控制方法進行實驗對比,通過實驗結(jié)果進一步考核所提出的基于齒隙補償?shù)姆床阶赃m應(yīng)控制器補償齒隙的有效性。依據(jù)自適應(yīng)控制理論提出基于齒隙補償?shù)姆床阶赃m應(yīng)控制策略。首先對永磁同步電機結(jié)構(gòu)進行分析,建立了三相靜止坐標(biāo)系以及兩相旋轉(zhuǎn)坐標(biāo)系下的永磁同步電機的數(shù)學(xué)模型;通過分析在實際應(yīng)用過程中永磁同步電機的幾種控制方式,選用轉(zhuǎn)矩控制型永磁交流伺服系統(tǒng)的矢量控制策略;兼顧PMSM伺服系統(tǒng)參數(shù)不確定性效應(yīng),構(gòu)建其數(shù)學(xué)模型,采用非線性反推控制,設(shè)計自適應(yīng)魯棒反步控制器,運用Matlab/Simulink軟件來驗證所設(shè)計的自適應(yīng)魯棒反步控制器的有效性。然后重點研究了基于齒隙補償?shù)姆床阶赃m應(yīng)控制策略,選取死區(qū)模型表達(dá)齒隙傳動效應(yīng),建立含有齒隙的永磁交流伺服系統(tǒng)數(shù)學(xué)模型,對齒隙模型中主、從動輪結(jié)合處存在的阻尼系數(shù)和剛性系數(shù)等未知參數(shù),進行在線估計,利用Lyapunov穩(wěn)定性理論,采用反步控制理論,對參數(shù)的自適應(yīng)律進行推導(dǎo)設(shè)計,最終提出了基于狀態(tài)反饋的基于齒隙補償?shù)姆床阶赃m應(yīng)控制策略。最后運用Matlab/Simulink軟件來驗證所提出的基于齒隙補償?shù)姆床阶赃m應(yīng)控制器補償齒隙的有效性,并通過永磁同步電機交流伺服系統(tǒng)實驗平臺,對基于齒隙補償?shù)姆床阶赃m應(yīng)控制和PID控制兩種控制方法進行實驗對比,通過實驗結(jié)果進一步考核所提出的基于齒隙補償?shù)姆床阶赃m應(yīng)控制器補償齒隙的有效性。
[Abstract]:In order to overcome the influence of tooth gap on the transmission performance of electromechanical system, the structure of permanent magnet synchronous motor (PMSM) is analyzed and its mathematical model is established. The dead-zone model is selected to represent the gear-gap transmission, and the effectiveness of the proposed backstepping adaptive controller based on tooth gap compensation is verified by using Matlab/Simulink software. Through the experiment platform of PMSM AC servo system, two control methods, backstepping adaptive control based on tooth gap compensation and PID control, are compared experimentally. The effectiveness of the proposed backstepping adaptive controller based on tooth gap compensation is further evaluated by the experimental results. Based on the adaptive control theory, a backstepping adaptive control strategy based on tooth gap compensation is proposed. The structure of permanent magnet synchronous motor is analyzed. The mathematical models of permanent magnet synchronous motor (PMSM) in three-phase stationary coordinate system and two-phase rotating coordinate system are established. By analyzing several control methods of permanent magnet synchronous motor in practical application, the vector control strategy of torque control permanent magnet AC servo system is selected. Considering the parameter uncertainty effect of PMSM servo system, the mathematical model is constructed, and the adaptive robust backstepping controller is designed by using nonlinear backstepping control. Matlab/Simulink software is used to verify the effectiveness of the designed adaptive robust backstepping controller. Then the adaptive backstepping control strategy based on tooth gap compensation is studied. The dead zone model is selected to express the tooth gap transmission effect, and the mathematical model of permanent magnet AC servo system with tooth gap is established. The unknown parameters such as damping coefficient and rigidity coefficient, such as damping coefficient and rigidity coefficient, are found in the tooth gap model. Based on the Lyapunov stability theory and the backstepping control theory, the adaptive law of parameters is deduced and designed. Finally, a backstepping adaptive control strategy based on tooth gap compensation based on state feedback is proposed. Finally, Matlab/Simulink software is used to verify the proposed backstepping adaptive control based on tooth gap compensation. The machine compensates the tooth gap effectively. Through the experiment platform of PMSM AC servo system, two control methods, backstepping adaptive control and PID control based on tooth gap compensation, are compared. The effectiveness of the proposed backstepping adaptive controller based on tooth gap compensation is further verified by the experimental results.
【學(xué)位授予單位】：南京理工大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TP273;TM341

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